draw_rectangle
Create precise rectangles or squares by specifying origin, width, and height for automated robot drawing tasks on the nUR MCP Server. Ideal for controlled, repeatable geometric designs in robotics workflows.
Instructions
给定起点位置和边长，在水平或竖直方向画一个正方形 origin：画长方形时TCP的起点位置 width：长（米） height：宽（米） coordinate：圆所在的平面。z：圆形所在的平面与基座所在平面垂直,其它：圆形所在的平面与基座所在平面平行。默认值：z。
Input Schema
TableJSON Schema
| Name | Required | Description | Default |
|---|---|---|---|
| coordinate | No | z | |
| height | Yes | ||
| ip | Yes | ||
| origin | Yes | ||
| width | Yes |
Implementation Reference
- The handler function for the 'draw_rectangle' tool. It is registered via the @mcp.tool() decorator. The function constructs waypoint positions based on the origin, width, height, and coordinate plane, generates a script with movel commands to trace the rectangle, and sends it to the UR robot via RealTimeClient.SendProgram.@mcp.tool() def draw_rectangle(ip: str, origin: dict, width: float, height: float, coordinate="z"): """给定起点位置和边长，在水平或竖直方向画一个正方形 origin：画长方形时TCP的起点位置 width：长（米） height：宽（米） coordinate：圆所在的平面。z：圆形所在的平面与基座所在平面垂直,其它：圆形所在的平面与基座所在平面平行。默认值：z。""" try: if '连接失败' in link_check(ip): return return_msg(f"与机器人的连接已断开。") wp_1 = [origin[0], origin[1], origin[2], origin[3], origin[4], origin[5]] wp_2 = [origin[0], origin[1], origin[2], origin[3], origin[4], origin[5]] wp_3 = [origin[0], origin[1], origin[2], origin[3], origin[4], origin[5]] if coordinate.lower() == "z": wp_1[1] = wp_1[1] + width wp_2[1] = wp_2[1] + width wp_2[3] = wp_2[3] - height wp_3[3] = wp_3[3] - height else: wp_1[1] = wp_1[1] + width wp_2[1] = wp_2[1] + width wp_2[0] = wp_2[0] + height wp_3[0] = wp_3[0] + height cmd = (f"movel(p{str(origin)}, a=1, v=0.25)\nmovel(p{str(wp_1)}, a=1, v=0.25)\n" f"movel(p{str(wp_2)}, a=1, v=0.25)\nmovel(p{str(wp_3)}, a=1, v=0.25)\n" f"movel(p{str(origin)}, a=1, v=0.25)") robot_list[ip].robotConnector.RealTimeClient.SendProgram(cmd) return return_msg(f"命令已发送：{cmd}") except Exception as e: logger.error(f"命令发送失败: {str(e)}") return return_msg(f"命令发送失败: {str(e)}")